Inclusion of shear deformation term to improve accuracy in flexible-link robot modelling
نویسندگان
چکیده
منابع مشابه
Dynamic Modelling of a Two-link Flexible Robot Manipulator
This paper presents dynamic modelling of a two-link flexible manipulator system. The kinematic model is based on standard frame transformation matrices describing both rigid rotation and modal displacement, under small deflection assumption. A two-link flexible manipulator incorporating structural damping, hub inertia and payload is considered. An explicit, complete, and accurate nonlinear dyna...
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Over the last years, flexible structured manipulators have increased in popularity in aeronautical research because of their advantages compared to conventional rigid structures. Unfortunately, the flexibility of the structure has one big disadvantage; it causes undesired motions of the spacecraft. The flexibility of the structure generates structural vibrations that strongly interferes with ri...
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ژورنال
عنوان ژورنال: Mechatronics
سال: 1996
ISSN: 0957-4158
DOI: 10.1016/0957-4158(96)00014-1